CN108270382B - Control method and device - Google Patents

Control method and device Download PDF

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Publication number
CN108270382B
CN108270382B CN201611264880.9A CN201611264880A CN108270382B CN 108270382 B CN108270382 B CN 108270382B CN 201611264880 A CN201611264880 A CN 201611264880A CN 108270382 B CN108270382 B CN 108270382B
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motor
pwm signal
speed
actual speed
adjusting
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CN108270382A (en
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龚雪霞
张洪涛
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Hangzhou Sanhua Research Institute Co Ltd
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Hangzhou Sanhua Research Institute Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The embodiment of the invention discloses a control method which is applied to a controller, wherein the controller outputs a PWM signal to an inverter, and the inverter converts an input direct current voltage into an alternating current voltage according to the PWM signal and outputs the alternating current voltage to a motor; the method comprises the following steps: acquiring the actual speed of the motor; comparing the magnitude relationship of the actual speed and the expected target speed; and when the actual speed is less than the target speed, adjusting the output moment of the PWM signal. The control method provided by the embodiment of the invention reduces the voltage amplitude required by the motor to reach the target speed by changing the phase relation between the power supply voltage of the motor and the counter electromotive force of the motor, so that the motor can reach the expected speed under the condition of insufficient voltage or overlarge load of the power supply.

Description

Control method and device
Technical Field
The invention relates to the technical field of motor control, in particular to a control method and a control device.
Background
The electric pump has incomparable advantages of a mechanical pump, such as adjustable speed, closed-loop control in a system, various necessary parameter feedback and the like, and is gradually popularized and used in the automobile industry. At present, 5-6 electric pumps are used for a new energy automobile driven by electric power, the electric pumps are gradually used for medium-high grade fuel oil automobiles, the consumption is 2-3, the market potential of the electric pumps is very huge, and particularly, the electric pumps have wide application space in the field of green energy conservation and environmental protection.
The commonly used electric pump speed governing control system at present includes: the device comprises a motor, an inverter, a controller and a direct current power supply. The controller sends out a proper PWM (Pulse Width Modulation) signal to control the switch of a power device in the inverter, and the DC power supply is converted into an AC voltage with variable frequency and amplitude to control the motor to do circular motion. Under the action of kinetic energy transferred by the motor, the working medium is continuously sucked into and discharged from the electric pump to form stable flow. The speed of the motor is proportional to the output power of the ac voltage. The output power of the ac voltage is proportional to the duty ratio of the PWM signal and the amplitude of the ac voltage.
Because the amplitude of the alternating voltage generated by the inverter is not larger than the voltage value of the direct current power supply, when the voltage of the direct current power supply is constant, the voltage which can be output by the inverter is restricted by the voltage of the direct current power supply, and the maximum speed which can be reached by a corresponding motor is also limited by the voltage of the direct current power supply. During the driving of the vehicle, the energy stored in the vehicle-mounted power supply (battery) gradually decreases with the driving power consumption of the vehicle, that is, the voltage of the dc power supply decreases with the decrease of the energy, such as: so that the original 12V dc voltage will drop to 10V or even lower, and the voltage may be unstable. This results in a decrease in the maximum speed that can be achieved by the motor, which may not achieve the desired target speed even if the duty cycle of the PWM signal is adjusted to 100%. In addition, because the cooling fluid may become viscous at low temperatures, the load on the motor may become large, resulting in insufficient power being supplied to the motor, which may also reduce the maximum speed that the motor can achieve, even if the duty cycle of the PWM signal is 100%, the motor may not achieve the desired target speed.
Disclosure of Invention
In view of this, the present invention provides a control method and apparatus, which can solve the problem in the prior art that the motor cannot reach the desired speed under the condition of insufficient voltage or excessive load of the power supply.
The control method provided by the embodiment of the invention is applied to a controller, wherein the controller outputs a PWM signal to an inverter, and the inverter converts an input direct current voltage into an alternating current voltage according to the PWM signal and outputs the alternating current voltage to a motor; the control method comprises the following steps:
acquiring the actual speed of the motor;
comparing the actual speed with a pre-designed expected target speed;
and when the actual speed is less than the target speed, adjusting the output moment of the PWM signal.
The adjusting the output time of the PWM signal further includes:
a: continuously acquiring the actual speed of the motor, and comparing the magnitude relation between the actual speed and the target speed;
b: when the actual speed is still less than the target speed, continuously adjusting the output time of the PWM signal;
c: repeating steps A-B until the actual speed is greater than or equal to the target speed.
The adjusting the output time of the PWM signal specifically includes:
acquiring the angle of the alternating current voltage ahead of the counter electromotive force generated by the motor;
adding the angle with a preset angle adjustment value to obtain a target angle;
obtaining a lead time according to the target angle and the actual speed;
and adjusting the output time of the PWM signal according to the back electromotive force and the lead time.
The obtaining the lead time according to the target angle and the actual speed specifically includes:
according to the formula
Figure DEST_PATH_GDA0001220292120000021
Obtaining the lead time Δ t;
wherein k is an adjustment coefficient, phi*And omega is the actual speed for the target angle.
The control method provided by the embodiment of the invention further comprises the following steps:
when the actual speed is greater than the target speed, decreasing the duty cycle of the PWM signal.
The control device provided by the embodiment of the invention is applied to a controller, wherein the controller outputs a PWM signal to an inverter, and the inverter converts a direct current voltage into an alternating current voltage according to the PWM signal and outputs the alternating current voltage to a motor; the control device includes: the device comprises an acquisition module, a comparison module and an adjustment module;
the acquisition module is used for acquiring the actual speed of the motor;
the comparison module is used for comparing the actual speed with a preset expected target speed;
and the adjusting module is used for adjusting the output moment of the PWM signal when the comparison result of the comparing module is that the actual speed is smaller than the target speed.
The obtaining module is further configured to continue to obtain the actual speed of the motor after the adjusting module adjusts the output time of the PWM signal;
the adjusting module is further configured to, when the comparison result of the comparing module indicates that the actual speed is still less than the target speed, continue to adjust the output time of the PWM signal and then return to the obtaining module until the comparison result of the comparing module indicates that the actual speed is greater than or equal to the target speed.
The adjusting module specifically includes: the method comprises the following steps of obtaining a submodule, a calculating submodule and an adjusting submodule;
the acquisition submodule is used for acquiring the angle of the back electromotive force generated by the alternating-current voltage leading the motor;
the calculation submodule is used for adding the angle and a preset angle adjustment value to obtain a target angle; the system is also used for obtaining the lead time according to the target angle and the actual speed;
and the adjusting submodule is used for adjusting the output time of the PWM signal according to the back electromotive force and the lead time.
Said calculation submodule, in particular for following a formula
Figure DEST_PATH_GDA0001220292120000031
Obtaining the lead time Δ t;
wherein k is an adjustment coefficient, phi*And omega is the actual speed for the target angle.
The adjusting module is further configured to decrease the duty ratio of the PWM signal when the comparison result of the comparing module is that the actual speed is greater than the target speed.
Compared with the prior art, the invention has at least the following advantages:
according to the control method provided by the embodiment of the invention, the current actual speed of the motor is firstly obtained, and when the actual speed is lower than the expected target speed, the phase relation between the alternating voltage output by the inverter and the counter electromotive force of the motor is changed by adjusting the output time of the PWM signal. In this way, the voltage amplitude required by the motor to reach the target speed can be reduced, in other words, the speed of the motor at a certain voltage amplitude is increased. The control method provided by the embodiment of the invention reduces the voltage amplitude required by the motor to reach the target speed by changing the phase relation between the power supply voltage of the motor and the counter electromotive force of the motor, so that the motor can reach the expected speed under the condition of insufficient voltage or overlarge load of the power supply.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a speed control system to which the control method of the present invention is applied;
FIG. 2 is a schematic flow chart illustrating an embodiment of a control method according to the present invention;
FIG. 3 is an equivalent circuit diagram of the motor in operation;
FIG. 4a is a schematic diagram of the phase and amplitude relationship between motor voltage and current in a complex plane during steady state operation in the prior art;
FIG. 4b is a schematic diagram of the relationship between the phase and amplitude of the motor voltage and current in steady state operation in the control method provided by the embodiment of the present invention;
fig. 5 is a schematic flowchart of a method for adjusting an output time of the PWM signal in the control method according to the embodiment of the present invention;
fig. 6 is a schematic structural diagram of an embodiment of the control device provided in the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, the control method and apparatus provided by the embodiment of the present invention are all applied to the controller 30 in the speed control system shown in fig. 1. The controller 30 outputs a PWM signal to the inverter 20 so that the inverter 20 converts an input dc voltage into an ac voltage according to the PWM signal and outputs the ac voltage to the motor 10 to control the operation of the motor 10. In addition, the controller 30 also adjusts the speed of the motor 10 by adjusting the duty cycle of the PWM signal according to the desired target speed. It is understood that the speed control system can be applied to the speed control of the motor in the electric pump, and can also be applied to the speed control of the motor in other equipment, which is not listed.
The following describes the control method and apparatus provided by the embodiment of the present invention with reference to fig. 1.
The method comprises the following steps:
referring to fig. 2, the figure is a schematic flow chart of an embodiment of the control method provided by the present invention.
The control method provided by the embodiment comprises the following steps:
s201: and acquiring the actual speed of the motor.
Generally, a hall sensor is arranged in a motor speed regulation control system to sense the position of a motor rotor. Therefore, the current actual speed of the motor 10 can be obtained through the position data of the motor rotor sensed by the hall sensor. Once the Hall sensor is installed, the position of the Hall sensor is fixed and cannot be changed randomly in the operation process.
Here, the actual speed is the actual speed of the motor 10 when the speed needs to be increased, and may be the speed of the motor 10 when the duty ratio of the PWM signal is 100%, or may be the speed of the motor 10 at any time.
In other words, the control method described in the following steps may be performed to increase the speed of the motor 10 when the duty ratio of the PWM signal is 100%, or the control method described in the following steps may be performed to increase the speed of the motor 10 at any desired timing (i.e., when the duty ratio of the PWM signal is less than 100%).
Before the actual speed control is performed, a protection program is generally started to prevent a fault such as an overcurrent.
S202: comparing the magnitude relationship of the actual speed with the desired target speed.
S203: and when the actual speed is less than the target speed, adjusting the output moment of the PWM signal.
Referring to fig. 3, an equivalent circuit diagram is shown during operation of the motor 10. R is motor resistance, L is motor inductance, and the alternating voltage input into the motor 10
Figure DEST_PATH_GDA0001220292120000061
Back electromotive force of motor
Figure DEST_PATH_GDA0001220292120000062
Wherein the content of the first and second substances,
Figure DEST_PATH_GDA0001220292120000063
keis the back-emf constant, ω is the electrical angular frequency,
Figure DEST_PATH_GDA0001220292120000064
Ω is the current speed of the motor 10 (in rpm), PP is the number of pole pairs of the motor 10, k for the same motoreAnd PP must be used.
The controller 30 sends appropriate PWM signals to control the switching of the power devices in the inverter 20 to provide an ac voltage of variable frequency and amplitude to the motor 10. The speed of the motor 10 is proportional to the frequency of the ac voltage and, as such, the higher the speed of the motor 10, the higher the amplitude of the ac voltage required. Maximum value of amplitude of alternating voltage that inverter 20 can generate
Figure DEST_PATH_GDA0001220292120000065
Is equal to the dc voltage u input to the inverter 20dc。
It is understood that, assuming that the back electromotive force of the motor 10 is a sine wave, at a certain time of steady-state operation, the relationship between the voltage and the current of the motor 10 is expressed in a complex manner as follows:
Figure DEST_PATH_GDA0001220292120000066
wherein the content of the first and second substances,
Figure DEST_PATH_GDA0001220292120000067
is an average value of the ac voltage input to the motor 10,
Figure DEST_PATH_GDA0001220292120000068
as the back electromotive force of the motor 10 at the present moment,
Figure DEST_PATH_GDA0001220292120000069
r is the equivalent resistance of the motor 10,
Figure DEST_PATH_GDA00012202921200000610
XLj ω L, L is the equivalent inductance of the motor 10,
Figure DEST_PATH_GDA00012202921200000611
is the torque current (the magnitude is related to the load of the motor).
Assuming that the back emf of the motor 10 is sinusoidal, a schematic diagram of the relationship between the voltage and current phases and amplitudes of the motor 10 in the complex plane at a certain time of steady state operation is shown in fig. 4 a. At this time, the back electromotive force of the motor 10
Figure DEST_PATH_GDA00012202921200000618
Is the angle by which the ac voltage input to the motor 10 leads the motor back emf (i.e., the lead angle).
It can be understood that, when the back electromotive force of the motor 10 is not a sine wave, a fourier series method may be applied to expand the back electromotive force, and the higher harmonics are ignored, and only the fundamental component is taken to analyze the relationship between the voltage and the current of the motor 10, which is similar to fig. 4a and will not be described herein again.
Since the position of the hall sensor is fixed in the motor 10 and the position of the signal generated by the hall sensor represents the position of the back emf, the lead angle is advanced
Figure DEST_PATH_GDA00012202921200000614
It is fixed. Therefore, the formula shown in FIG. 3
Figure DEST_PATH_GDA00012202921200000615
And formulas
Figure DEST_PATH_GDA00012202921200000616
It can be seen that when an alternating voltage is supplied to the motor 10
Figure DEST_PATH_GDA00012202921200000617
And the load of the motor 10,
Figure DEST_PATH_GDA0001220292120000071
the size of the utility model is fixed,
Figure DEST_PATH_GDA0001220292120000072
the value of (c) is also constant, i.e. the actual speed omega that the motor 10 can reach is constant. When the dc voltage inputted to the inverter 20 is under-voltage, the maximum value of the ac voltage amplitude can be generated by the inverter 20
Figure DEST_PATH_GDA0001220292120000073
Is equal to the voltage u of the direct current power source 40 input to the inverter 20dcI.e. by
Figure DEST_PATH_GDA0001220292120000074
The inability to reach the required value of speed limits the speed that can be reached by the motor 10 and thus leads toCausing the motor 10 to fail to achieve the desired target speed.
And the phase difference between the ac voltage inputted to the motor 10 and the back electromotive force of the motor 10 is changed by adjusting the output timing of the PWM signal, and the angle at which the ac voltage inputted to the motor 10 leads the back electromotive force of the motor 10 is increased to
Figure DEST_PATH_GDA0001220292120000075
Equivalent to injecting a current I into the D axis of the motor 10d. In order to obtain the control characteristics of the direct current motor, a coordinate system is established on a rotor of the motor, the coordinate system and the rotor rotate synchronously, and the direction of a magnetic field of the rotor is taken as the D axis. At this time, a schematic diagram of the relationship of the phase and amplitude of the voltage and current of the motor 10 in the complex plane is shown in fig. 4 b. Wherein the content of the first and second substances,
Figure DEST_PATH_GDA0001220292120000076
comparing fig. 4a and 4b, it can be seen that only a small ac voltage needs to be supplied to the motor 10 after the output timing of the PWM signal is adjusted
Figure DEST_PATH_GDA0001220292120000077
The same as in fig. 4a can be obtained
Figure DEST_PATH_GDA0001220292120000078
Value, i.e. the motor 10 at a lower ac voltage
Figure DEST_PATH_GDA0001220292120000079
The lower part also reaches the original part
Figure DEST_PATH_GDA00012202921200000710
The speed that can be reached next time reduces the voltage value required by the motor 10 to reach the target rotating speed, and improves the maximum speed that can be reached by the motor 10 under a certain alternating voltage.
It is understood that when the actual speed is greater than the target speed, the actual speed of the motor 10 may be reduced to maintain the target speed by reducing the duty cycle of the PWM signal.
Since the actual control process is affected by factors such as the actual working environment, it cannot be determined whether the speed of the motor 10 satisfies the desired target speed after the output timing of the PWM signal is adjusted. Therefore, in some possible implementations of this embodiment, step S203 is followed by:
a: and continuously acquiring the actual speed of the motor, and comparing the magnitude relation between the actual speed and the target speed.
B: and when the actual speed is still less than the target speed, continuously adjusting the output moment of the PWM signal.
C: repeating steps A through B until the actual speed is greater than or equal to the target speed.
It should be noted that, when the actual speed of the motor 10 is greater than the desired target speed after the output timing of the PWM signal is adjusted, in order to prevent the motor 10 from being too fast and causing malfunction or accidents, the speed of the motor 10 may be reduced to maintain the target speed by reducing the duty ratio of the PWM signal. When the speed of the motor 10 is too high, the output timing of the PWM signal may be continuously adjusted so that the speed of the motor 10 is maintained at the target speed.
In one embodiment, as shown in fig. 5, the adjusting the output time of the PWM signal specifically includes the following steps:
s501: acquiring the angle of the alternating current voltage ahead of the counter electromotive force generated by the motor;
it will be appreciated that the moment t at which the hall sensor senses the rotor of the motor 10 is assumed to be1The output time of the PWM signal before adjustment is t2(t2＜t1) And the period of the alternating voltage is equal to the period of the PWM signal, the alternating voltage leads the angle Φ of the counter electromotive force generated by the motor 10 (t ═ t)1-t2) X Ω, Ω is the actual speed of the motor.
S502: adding the angle phi with a preset angle adjustment value delta phi to obtain a target angle phi*，Φ*＝Φ+ΔΦ；
As an example, the angle adjustment value may be set to 0.5 ° to ensure that the magnitude of the adjustment is not too large as much as possible. It can be understood that the output time of the PWM signal is adjusted by too large an amplitude, which may result in too large an amplitude of the speed of the motor 10, and thus may easily cause an accident or malfunction. The person skilled in the art can also set the specific value of the angle adjustment value according to the actual situation, which is not listed here.
S503: obtaining a lead time according to the target angle and the actual speed;
in particular, it can be according to the formula
Figure DEST_PATH_GDA0001220292120000081
The lead time Δ t is obtained. Wherein k is an adjustment coefficient.
S504: and adjusting the output time of the PWM signal according to the back electromotive force and the lead time.
Knowing the current actual speed of the motor 10, the next time the hall sensor senses the rotor of the motor 10 can be obtained
Figure DEST_PATH_GDA0001220292120000082
Adjusting the output timing of the PWM signal to
Figure DEST_PATH_GDA0001220292120000083
It is possible to increase the angle by which the alternating-current voltage input to the motor 10 is advanced by its back electromotive force by Δ Φ, the advance angle therebetween becoming the target angle Φ*. In specific implementation, the PWM signal may be output in advance or in delay, and specific steps are not described herein again.
The control method provided by the embodiment first obtains the current actual speed of the motor, and when the actual speed is smaller than the desired target speed, changes the phase relationship between the ac voltage output by the inverter and the back electromotive force of the motor by adjusting the output time of the PWM signal. In this way, the voltage amplitude required by the motor to reach the target speed can be reduced, in other words, the speed of the motor at a certain voltage amplitude is increased. According to the control method provided by the implementation, the phase relation between the power supply voltage of the motor and the counter electromotive force of the motor is changed, so that the voltage amplitude required by the motor to reach the target speed is reduced, and the motor can reach the expected speed under the condition that the voltage of the power supply is insufficient or the load is overlarge.
Based on the control method provided by the embodiment, the embodiment of the invention also provides a control device.
The embodiment of the device is as follows:
referring to fig. 6, the figure is a schematic structural diagram of an embodiment of the control device provided in the present invention.
The control device provided by the embodiment comprises: an acquisition module 100, a comparison module 200 and an adjustment module 300;
the acquiring module 100 is configured to acquire an actual speed of the motor;
the comparison module 200 is configured to compare a magnitude relationship between the actual speed and an expected target speed;
the adjusting module 300 is configured to adjust the output time of the PWM signal when the comparison result of the comparing module 200 is that the actual speed is smaller than the target speed.
It is understood that the obtaining module 100, the comparing module 200 and the adjusting module 300 are all functional modules, and may be integrated in one chip, or may be integrated in a plurality of chips according to actual situations, and are not listed here.
In some possible implementations of this embodiment, the obtaining module 100 is further configured to continue to obtain the actual speed of the motor after the adjusting module 300 adjusts the output time of the PWM signal;
the adjusting module 200 is further configured to, when the comparison result of the comparing module 100 is that the actual speed is still less than the target speed, continue to adjust the output time of the PWM signal and then return to the obtaining module until the comparison result of the comparing module 100 is that the actual speed is greater than or equal to the target speed.
In some possible implementation manners of this embodiment, the adjusting module 300 specifically includes: an acquisition sub-module, a calculation sub-module and an adjustment sub-module (all not shown in the figure);
the acquisition submodule is used for acquiring the angle of the back electromotive force generated by the alternating-current voltage leading the motor;
the calculation submodule is used for adding the angle and a preset angle adjustment value to obtain a target angle; the system is also used for obtaining the lead time according to the target angle and the actual speed;
in some possible implementations of this embodiment, the calculation submodule is specifically configured to follow a formula
Figure DEST_PATH_GDA0001220292120000101
Obtaining the lead time Δ t;
wherein k is an adjustment coefficient, phi*And omega is the actual speed for the target angle.
And the adjusting submodule is used for adjusting the output time of the PWM signal according to the back electromotive force and the lead time.
In some possible implementations of the embodiment, the adjusting module 300 is further configured to decrease the duty ratio of the PWM signal when the comparison result of the comparing module 200 is that the actual speed is greater than the target speed.
The control device provided by the embodiment first obtains the current actual speed of the motor through the obtaining module, and when the actual speed is smaller than the expected target speed as a comparison result of the comparing module, adjusts the output time of the PWM signal through the adjusting module, so as to change the phase relationship between the ac voltage output by the inverter and the back electromotive force of the motor. In this way, the voltage amplitude required by the motor to reach the target speed can be reduced, in other words, the speed of the motor at a certain voltage amplitude is increased. The control device provided by the embodiment reduces the voltage amplitude required by the motor to reach the target speed by changing the phase relation between the power supply voltage of the motor and the counter electromotive force of the motor, so that the motor can reach the expected speed under the condition of insufficient voltage or overlarge load of the power supply.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant part can be referred to the method part for description.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalent embodiments to equivalent variations, without departing from the scope of the present teachings, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims (6)

1. A control method is applied to a controller, wherein the controller outputs a PWM signal to an inverter, and the inverter converts an input direct current voltage into an alternating current voltage according to the PWM signal and outputs the alternating current voltage to a motor; the control method comprises the following steps:
acquiring the actual speed of the motor;
comparing the magnitude relationship of the actual speed and the expected target speed;
when the actual speed is smaller than the target speed, adjusting the output time of the PWM signal;
the adjusting the output time of the PWM signal specifically includes:
acquiring the angle of the alternating current voltage ahead of the counter electromotive force generated by the motor;
adding the angle with a preset angle adjustment value to obtain a target angle;
obtaining a lead time according to the target angle and the actual speed;
adjusting the output time of the PWM signal according to the back electromotive force and the lead time;
obtaining the lead time according to the target angle and the actual speed, specifically comprising:
according to the formula
Figure FDA0002709220120000011
Obtaining the lead time Δ t;
wherein k is an adjustment coefficient, phi*For the target angle, Ω is the actual speed;
adjusting the output time of the PWM signal specifically includes:
adjusting the output timing of the PWM signal to
Figure FDA0002709220120000012
Wherein the content of the first and second substances,
Figure FDA0002709220120000013
the moment when the Hall sensor senses the motor rotor next time.
2. The control method according to claim 1, wherein the adjusting the output timing of the PWM signal further comprises:
a: continuously acquiring the actual speed of the motor, and comparing the magnitude relation between the actual speed and the target speed;
b: when the actual speed is still less than the target speed, continuously adjusting the output time of the PWM signal;
c: repeating steps A-B until the actual speed is greater than or equal to the target speed.
3. The control method according to claim 1 or 2, characterized by further comprising:
when the actual speed is greater than the target speed, decreasing the duty cycle of the PWM signal.
4. A control device is applied to a controller, the controller outputs a PWM signal to an inverter, and the inverter converts a direct current voltage into an alternating current voltage according to the PWM signal and outputs the alternating current voltage to a motor; the control device includes: the device comprises an acquisition module, a comparison module and an adjustment module;
the acquisition module is used for acquiring the actual speed of the motor;
the comparison module is used for comparing the magnitude relation between the actual speed and the expected target speed;
the adjusting module is used for adjusting the output time of the PWM signal when the comparison result of the comparing module is that the actual speed is smaller than the target speed;
the adjusting module specifically includes: the method comprises the following steps of obtaining a submodule, a calculating submodule and an adjusting submodule;
the acquisition submodule is used for acquiring the angle of the back electromotive force generated by the alternating-current voltage leading the motor;
the calculation submodule is used for adding the angle and a preset angle adjustment value to obtain a target angle; the system is also used for obtaining the lead time according to the target angle and the actual speed;
the adjusting submodule is used for adjusting the output time of the PWM signal according to the back electromotive force and the lead time;
the computing submodule is providedFor following the formula
Figure FDA0002709220120000021
Obtaining the lead time Δ t;
wherein k is an adjustment coefficient, phi*For the target angle, Ω is the actual speed;
the adjusting submodule is specifically configured to adjust an output time of the PWM signal to
Figure FDA0002709220120000022
Wherein the content of the first and second substances,
Figure FDA0002709220120000023
the moment when the Hall sensor senses the motor rotor next time.
5. The control device according to claim 4,
the obtaining module is further configured to continue to obtain the actual speed of the motor after the adjusting module adjusts the output time of the PWM signal;
the adjusting module is further configured to, when the comparison result of the comparing module indicates that the actual speed is still less than the target speed, continue to adjust the output time of the PWM signal and then return to the obtaining module until the comparison result of the comparing module indicates that the actual speed is greater than or equal to the target speed.
6. The control device according to claim 4 or 5,
the adjusting module is further configured to decrease the duty ratio of the PWM signal when the comparison result of the comparing module is that the actual speed is greater than the target speed.
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